

Here, the navigation equations for the inertial sensor array
are propagated by the specific force \(s_n\)  and the angular
acceleration \(\dot{\omega }_n\) . Assuming that the angular velocity is
constant, that is \(\dot{\omega }_n = 0\) , and
removing (),
then (REF ) reduces to the
conventional discretized inertial navigation
equations [1]}.
